Abstract
It is known that if a system can be (robustly) globally asymptotically stabilized by means of a feedback that is driven by functions that are uniformly completely observable (UCO), then this system can be practically semiglobally stabilized by means of (possibly dynamic) output feedback. This papers discusses a significant structural hypothesis under which the existence of a dynamic feedback driven by UCO functions is guaranteed. The class of systems which satisfy this hypothesis includes any stabilizable and detectable linear system and any relative degree one nonlinear system which is stabilizable by dynamic output feedback. In particular, the hypothesis does not require the system to be minimum phase.
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